Coordinated Control of Multiple Unicycles for Escorting and Patrolling Task Based on a Cyclic Pursuit Strategy

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the 2016 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages7289-7294
ISBN (print)9781467386821, 9781467386807, 9781467386838
Publication statusPublished - Jul 2016

Publication series

Name
ISSN (Print)0743-1619

Conference

Title2016 American Control Conference (ACC 2016)
PlaceUnited States
CityBoston
Period6 - 8 July 2016

Link(s)

DOI

DOI
Check@CityULib
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-84992017416&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(0b25908e-d9a1-43ac-aa8f-e8200c597c30).html

Abstract

This paper investigates the coordinated control problem of multiple unicycles for the escorting and patrolling task with respect to a moving target unicycle. The topology of the sensor graph results from a cyclic pursuit strategy and it may dynamically change with the positions of unicycles. A controller for each escort unicycle is developed by using the information from local sensing. It is shown that with the proposed control law, all escort unicycles can globally converge to orbiting around the target in a common circle with desired radius and maintaining evenly spaced along the circle. Finally, the simulation results of an example verify effectiveness of the proposed controller.

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Publication fingerprints text

100
control INIS
100
Task-oriented Keyphrases
100
Coordinated Control Keyphrases
100
Unicycle Keyphrases
100
Patrolling Keyphrases
100
Cyclic Pursuit Keyphrases
100
Pursuit Strategy Keyphrases
100
Simulation Result Engineering
100
Sensor Engineering
100
Control Law Engineering
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Citation Format(s)

[ RIS ] [ BibTeX ]
Coordinated Control of Multiple Unicycles for Escorting and Patrolling Task Based on a Cyclic Pursuit Strategy. / Yu, Xiao; Liu, Lu; Feng, Gang.
Proceedings of the 2016 American Control Conference. Institute of Electrical and Electronics Engineers, Inc., 2016. p. 7289-7294.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review